US20100116277A1 - Switchable joint constraint system - Google Patents

Switchable joint constraint system Download PDF

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Publication number
US20100116277A1
US20100116277A1 US12/444,743 US44474307A US2010116277A1 US 20100116277 A1 US20100116277 A1 US 20100116277A1 US 44474307 A US44474307 A US 44474307A US 2010116277 A1 US2010116277 A1 US 2010116277A1
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US
United States
Prior art keywords
motion sensor
joint constraint
data
processing unit
sensors
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US12/444,743
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English (en)
Inventor
Gerd Lanfermann
Richard Daniel Willmann
Juergen Te Vrugt
Edwin Gerardus Johannus Maria Bongers
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips Electronics NV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips Electronics NV filed Critical Koninklijke Philips Electronics NV
Publication of US20100116277A1 publication Critical patent/US20100116277A1/en
Abandoned legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/1036—Measuring load distribution, e.g. podologic studies
    • A61B5/1038—Measuring plantar pressure during gait
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4528—Joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/48—Other medical applications
    • A61B5/4851—Prosthesis assessment or monitoring

Definitions

  • the present invention concerns a switchable joint constraint system.
  • US 2006/0135883 A1 discloses control systems and methods for processing a time series of signals associated with the movement of a device associated with a limb.
  • the time series of motion signals is filtered, such as through an autoregressive filter, and compared to stored data sets representing a limb-motion event and/or phase.
  • a plurality of accelerometers generate the time series of motion signals, based on at least acceleration measurements in three orthogonal directions and/or planes.
  • the acceleration measurements may relate to the movement of an artificial limb, such as a prosthetic or orthotic device.
  • the control system may trigger an actuator to appropriately adjust one or more prosthetic or orthotic joints.
  • this system is directed towards actively enabling the movement of a joint, for example via an actuator, instead of blocking it. Furthermore, this system is directed towards the facilitation of limb movements, such as walking, without taking into account further situations.
  • a joint constraint system suitable for use in the constraint induced therapy which allows for varying situations where both limbs need to be used while also constraining the movement of the joint when the affected limb should be trained would still be desirable.
  • a switchable joint constraint system which comprises:
  • FIG. 1 is a block diagram of the components of the system according to the present invention showing the interactions between them.
  • FIG. 2 shows a patient wearing sensors and a joint constraint.
  • the individual spatial descriptors in a system according to the present invention can be any parameters that are appropriate to describe the spatial position of e.g. a sensor or the orientation of a limb.
  • such individual spatial descriptors may be Cartesian coordinates (x, y, z), Euler angles or quaternions.
  • the at least one motion sensor in a system according to the present invention may be an inertial sensor.
  • the class of inertial sensors comprises, for example, accelerometers, gyroscopes and magnetometers. Accelerometers may be sensitive to the earth's gravitational field, whereas gyroscopes may be sensitive to the rate of turn.
  • the acceleration sensor may detect acceleration along the x-, y- and z-axis. It is also possible that the acceleration sensor may detect angular acceleration, such as angular acceleration in three substantially orthogonal planes. It is also possible that the motion sensor is a combined sensor which combines, for example, a three-dimensional accelerometer, two two-dimensional gyroscopes and three one-dimensional magnetometers.
  • the sensor or sensors may be located at various positions on the body of the person using the joint constraint system according to the present invention, such as on the arms, legs and/or torso. The sensors may record the movement of the immobilized limb as well as the movement of the impaired limb.
  • the processing unit may comprise signal filters for processing a multitude of simultaneous sensor signals. It may incorporate a microprocessor as a central processing unit.
  • the signals that the processing unit receives from the at least one motion sensor may be raw signals or pre-processed signals. In any case, the processing unit resolves the data from the at least one motion sensor into individual spatial descriptors and time. Furthermore, the processing unit is capable of issuing commands to the joint constraint which cause the joint constraint to adopt a mobile or immobile state.
  • the database is in communication with the processing unit, that is the processing unit is able to read and write data into the database.
  • the database has already stored, that is it already comprises, comparison data.
  • This comparison data has the same structure as the data that the processing unit writes into the database.
  • the comparison data is assigned to at least one predefined situation. This means that a certain variation of the individual spatial descriptors provided via a sensor or several sensors within a given time interval is brought into connection with a certain situation. For example, a variation of the coordinates of the sensors may indicate that the person wearing the system according to the present invention is falling. Another situation could be that the person is resting.
  • the processing unit compares the data from the at least one motion sensor to the data in the database which is assigned to at least one situation. This can be undertaken by comparing the present data that has been written into the database to the stored data. As a result of this comparison the processing unit issues switching commands to the joint constraint, based upon whether a certain situation is met.
  • the processing unit may determine that the person wearing the system is inactive and therefore issue a command to switch the joint constraint into a mobile state.
  • the processing unit determines that the person wearing the system is falling.
  • the joint constraint would also be switched to a mobile state so that the falling person may use the now mobile limb in order to protect himself from injury.
  • the system determines that the person is walking.
  • a constrained arm would be released in order to support a well-balanced gait.
  • the system further comprises a user interface for accessing data from the database.
  • a medical professional may see the amount of activity that the immobilized limb and the affected limb have experienced.
  • the activity may be calculated by integrating three-dimensional data from the sensors over the period of time. Therefore, the medical professional is able to more accurately assess the situation regarding the affected limb.
  • an activity threshold for the patient may be established. This describes the maximum amount of activity that the affected limb may tolerate or the minimum amount of activity that the immobilized limb should still experience. If the upper activity threshold for the affected limb or the lower activity threshold for the impaired limb is reached, the joint constraint is switched to a mobile state so that the working limb may support the affected limb. This prevents overexertion of the affected limb and weakening of the impaired limb.
  • the system further comprises a display unit displaying the status of the system with respect to at least the movement or position of at least one motion sensor.
  • a display unit displaying the status of the system with respect to at least the movement or position of at least one motion sensor.
  • the joint constraint is switched between a mobile and an immobile state by applying an electrical field to an electrorheological fluid or by applying a magnetic field to a magnetorheological fluid.
  • rheological fluids particles align when exposed to the appropriate energy field. When this alignment occurs, the ability of the fluid to flow, or shear, is substantially reduced.
  • One fluid type is responsive to a voltage field (electrorheological fluids) and the other type is responsive to a magnetic field (magnetorheological fluids).
  • these “smart fluids” solidify in the presence of an electrical or magnetic field and re-liquefy when this field is removed.
  • the rheological fluid may be enclosed in a soft garment and be worn around the joint that is to be immobilized in a cuff-like fashion.
  • the use of these fluids is beneficial in that no bulky or moving parts are needed to switch from a mobile to an immobile state, thus allowing for lightweight and unobtrusive joint constraints.
  • the garments allow for a good fit around the patient's joint, thus reducing the danger of chafing.
  • the joint constraint is switched between a mobile and an immobile state by an inflatable cuff Inflatable cuffs stiffen when air is inflated into chambers around the joint. This provides for a low-cost and low-maintenance joint constraint.
  • the joint constraint is switched between a mobile and an immobile state by locking the joints of an orthosis.
  • Orthoses provide good control over the joint movement as they are tightly attached to the limb.
  • the joints may be either fully locked, fully opened or open only to allow a certain degree of movement.
  • it is beneficial that the joints may be locked at any arbitrary angle.
  • the immobilized limb may be immobilized enough to force the patient to use the impaired limb, while at the same time involuntary stiffening of the immobilized limb due to prolonged non-use is prevented.
  • the system further comprises a release unit which switches the joint constraint to a mobile state after a manual input.
  • a release unit which switches the joint constraint to a mobile state after a manual input.
  • the release unit may take the form of a switch or may be activated via voice control.
  • the release unit may furthermore be configured to switch the joint constraint to a mobile state for a limited time in order to avoid cheating by the patient. Furthermore, the use of the release unit may be recorded in the database.
  • a further aspect of the present invention concerns a process for handling sensor signals in a system according to the present invention, comprising the steps of:
  • step a) in this process the user may be asked to bring himself into a certain posture. For example, he may be asked to stand upright and let his arms hang freely along the sides of his body. Then the system is able to correlate the sensor output signals with a certain position of the limbs and to subsequently calculate the current position of the limbs.
  • FIG. 1 illustrates a block diagram of the components of the system according to the present invention, showing the interactions between them.
  • the individual components are three motion sensors ( 1 a , 1 b , 1 c ), a display unit ( 6 ), a central processing unit (CPU, 3 ), a joint constraint ( 2 ), a database ( 4 ) and a user interface ( 5 ).
  • the sensors ( 1 a , 1 b , 1 c ) provide input to the CPU ( 3 ), which processes the input into data with spatial and time coordinates. This data is stored in the database ( 4 ) together with comparison data.
  • the CPU ( 3 ) then continually compares the sensor data to the comparison data.
  • the CPU ( 3 ) orders the joint constraint ( 2 ) to switch into a mobile state or back into an immobile state.
  • the stored data in the database ( 4 ) may be viewed by a user such as a physiotherapist or a physician via a user interface ( 5 ). They can review the activity of the limbs with sensors on them and set threshold conditions when the joint constraint is to be activated or not.
  • a display unit ( 6 ) is in communication with the CPU ( 3 ). It is capable of displaying the status of the system with respect to at least the movement or position of at least one sensor ( 1 ).
  • the display unit ( 6 ) may show if an impaired limb or immobilized limb is being moved correctly within a target corridor defined by speed of movement or extent of movement.
  • the display unit ( 6 ) may also give audio signals to indicate, for example, whether a limb is being used enough or not.
  • FIG. 2 shows a patient wearing motion sensors ( 1 a , 1 b , 1 c , 1 d ) and a joint constraint ( 2 ).
  • the healthy limb and thus the limb to be immobilized in the constraint induced therapy bears two motion sensors ( 1 a, 1 b ) and a joint constraint ( 2 ) around the elbow joint.
  • a further motion sensor ( 1 c ) is located around the torso of the patient.
  • a fourth motion sensor ( 1 d ) is located on the impaired limb.
  • the sensors ( 1 a , 1 b , 1 c , 1 d ) and the joint constraint ( 2 ) are in wireless contact with the rest of the system.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Public Health (AREA)
  • Molecular Biology (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rheumatology (AREA)
  • Transplantation (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
  • Prostheses (AREA)
US12/444,743 2006-10-13 2007-10-09 Switchable joint constraint system Abandoned US20100116277A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP06122243.6 2006-10-13
EP06122243 2006-10-13
PCT/IB2007/054112 WO2008044207A2 (en) 2006-10-13 2007-10-09 Switchable joint constraint system

Publications (1)

Publication Number Publication Date
US20100116277A1 true US20100116277A1 (en) 2010-05-13

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Application Number Title Priority Date Filing Date
US12/444,743 Abandoned US20100116277A1 (en) 2006-10-13 2007-10-09 Switchable joint constraint system

Country Status (7)

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US (1) US20100116277A1 (cg-RX-API-DMAC7.html)
EP (1) EP2077754B1 (cg-RX-API-DMAC7.html)
JP (1) JP2010505578A (cg-RX-API-DMAC7.html)
CN (1) CN101522100B (cg-RX-API-DMAC7.html)
AT (1) ATE502573T1 (cg-RX-API-DMAC7.html)
DE (1) DE602007013437D1 (cg-RX-API-DMAC7.html)
WO (1) WO2008044207A2 (cg-RX-API-DMAC7.html)

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US20110202144A1 (en) * 2010-02-12 2011-08-18 Palmer Michael L Novel enhanced methods for mimicking human gait with prosthetic knee devices
US20170151081A1 (en) * 2015-11-30 2017-06-01 International Business Machines Corporation Control device for controlling a rigidity of an orthosis and method of controlling a rigidity of an orthosis
EP3669831A1 (de) * 2018-12-18 2020-06-24 medi GmbH & Co. KG Medizinisches hilfsmittel für ein gelenk einer person und verfahren zum betrieb eines medizinischen hilfsmittels
EP3662871A3 (en) * 2013-07-15 2020-10-14 Softarmour LLC Variable modulus body brace and body brace system

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US8074559B2 (en) 2007-02-06 2011-12-13 Deka Products Limited Partnership Dynamic support apparatus and system
US10512575B2 (en) 2007-02-06 2019-12-24 Deka Products Limited Partnership Dynamic support apparatus
WO2008098057A2 (en) 2007-02-06 2008-08-14 Deka Integrated Solutions Corp. Arm prosthetic device
EP2114316B1 (en) 2007-02-06 2014-07-16 DEKA Products Limited Partnership Method and apparatus for control of a prosthetic
US8979943B2 (en) 2007-02-06 2015-03-17 Deka Products Limited Partnership Arm prosthetic device
EP2114295B1 (en) 2007-02-06 2015-07-01 DEKA Products Limited Partnership Dynamic support apparatus
US10426638B2 (en) 2007-02-06 2019-10-01 Deka Products Limited Partnership Arm prosthetic device
US8864845B2 (en) 2007-02-06 2014-10-21 DEKA Limited Partnership System for control of a prosthetic device
US11779476B2 (en) 2007-02-06 2023-10-10 Deka Products Limited Partnership Arm prosthetic device
US8449624B2 (en) 2007-02-06 2013-05-28 Deka Products Limited Partnership Arm prosthetic device
US8453340B2 (en) 2007-02-06 2013-06-04 Deka Products Limited Partnership System, method and apparatus for orientation control
US9114030B2 (en) 2007-02-06 2015-08-25 Deka Products Limited Partnership System for control of a prosthetic device
DE102008024747A1 (de) * 2008-05-20 2009-12-03 Otto Bock Healthcare Products Gmbh Orthopädische Einrichtung mit einem Gelenk sowie Verfahren zur Steuerung einer orthopädischen Einrichtung
IT1393751B1 (it) * 2009-02-11 2012-05-08 Sensorize S R L Metodo per la misura della potenza muscolare e relativo apparato.
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GB0910920D0 (en) 2009-06-24 2009-08-05 Touch Emas Ltd Method of controlling a prosthesis
GB0916895D0 (en) 2009-09-25 2009-11-11 Touch Emas Ltd Prosthetic apparatus and method
DE102009050385A1 (de) * 2009-10-22 2011-05-05 Otto Bock Healthcare Gmbh Vorrichtung zur Erfassung und/oder Beeinflussung der Körperhaltung
US9901405B2 (en) * 2010-03-02 2018-02-27 Orthosoft Inc. MEMS-based method and system for tracking a femoral frame of reference
WO2011127410A2 (en) 2010-04-09 2011-10-13 Deka Products Limited Partnership System and apparatus for robotic device and methods of using thereof
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GB201114264D0 (en) 2011-08-18 2011-10-05 Touch Emas Ltd Improvements in or relating to prosthetics and orthotics
GB201116060D0 (en) 2011-09-16 2011-11-02 Touch Emas Ltd Method of controlling a prosthesis
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RU2548514C1 (ru) * 2014-01-30 2015-04-20 Государственное бюджетное образовательное учреждение высшего профессионального образования "Красноярский государственный медицинский университет имени профессора В.Ф. Войно-Ясенецкого" Минздрава России (ГБОУ ВПО КрасГМУ им. проф. В.Ф. Войно-Ясенецкого Минздрава России) Способ коррекции ходьбы с превращением паретичной ноги в ведущую
US9579218B2 (en) 2014-02-04 2017-02-28 Rehabilitation Institute Of Chicago Modular and lightweight myoelectric prosthesis components and related methods
GB201403265D0 (en) 2014-02-25 2014-04-09 Touch Emas Ltd Prosthetic digit for use with touchscreen devices
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RO133954A2 (ro) * 2018-09-21 2020-03-30 Kineto Tech Rehab S.R.L. Sistem şi metodă pentru moni- torizarea optimizată a articulaţiilor în kinetoterapie
US11547581B2 (en) 2018-12-20 2023-01-10 Touch Bionics Limited Energy conservation of a motor-driven digit
EP4403142B1 (en) 2019-04-10 2025-06-25 Touch Bionics Limited Prosthetic digit with articulating links
US11931270B2 (en) 2019-11-15 2024-03-19 Touch Bionics Limited Prosthetic digit actuator
US12115087B2 (en) 2020-11-03 2024-10-15 Touch Bionics Limited Sensor for prosthetic control

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110202144A1 (en) * 2010-02-12 2011-08-18 Palmer Michael L Novel enhanced methods for mimicking human gait with prosthetic knee devices
US8655808B2 (en) * 2010-02-12 2014-02-18 Freedom Innovations, L.L.C. Method and apparatus for mimicking human gait with prosthetic knee devices using a state controller to assist in stumble recovery
US8959038B2 (en) 2010-02-12 2015-02-17 Freedom Innovations, L.L.C. Method and apparatus for mimicking human gait with prosthetic knee devices and detecting when stumble recovery is needed
EP3662871A3 (en) * 2013-07-15 2020-10-14 Softarmour LLC Variable modulus body brace and body brace system
US11259577B2 (en) 2013-07-15 2022-03-01 SoftArmour LLC Variable modulus body brace and body brace system
US20170151081A1 (en) * 2015-11-30 2017-06-01 International Business Machines Corporation Control device for controlling a rigidity of an orthosis and method of controlling a rigidity of an orthosis
US10390986B2 (en) * 2015-11-30 2019-08-27 International Business Machines Corporation Control device for controlling a rigidity of an orthosis and method of controlling a rigidity of an orthosis
EP3669831A1 (de) * 2018-12-18 2020-06-24 medi GmbH & Co. KG Medizinisches hilfsmittel für ein gelenk einer person und verfahren zum betrieb eines medizinischen hilfsmittels
WO2020126181A1 (de) * 2018-12-18 2020-06-25 Medi Gmbh & Co. Kg Medizinisches hilfsmittel für ein gelenk einer person und verfahren zum betrieb eines medizinischen hilfsmittels

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Publication number Publication date
WO2008044207A3 (en) 2008-06-12
WO2008044207A2 (en) 2008-04-17
CN101522100B (zh) 2012-02-08
JP2010505578A (ja) 2010-02-25
ATE502573T1 (de) 2011-04-15
EP2077754A2 (en) 2009-07-15
CN101522100A (zh) 2009-09-02
EP2077754B1 (en) 2011-03-23
DE602007013437D1 (cg-RX-API-DMAC7.html) 2011-05-05

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